diff --git a/examples/rp/src/bin/adc_dma.rs b/examples/rp/src/bin/adc_dma.rs
new file mode 100644
index 00000000..f81cb3f7
--- /dev/null
+++ b/examples/rp/src/bin/adc_dma.rs
@@ -0,0 +1,183 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::adc::{Adc, Config, ContinuousAdc, InterruptHandler, SamplingSpeed};
+use embassy_rp::{adc, bind_interrupts, Peripheral};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    ADC_IRQ_FIFO => InterruptHandler;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let mut adc = Adc::new(p.ADC, Irqs, Config::default());
+
+    let mut p26 = p.PIN_26;
+    let mut p27 = p.PIN_27;
+    let mut p28 = p.PIN_28;
+
+    let mut dma0 = p.DMA_CH0.into_ref();
+    let mut dma1 = p.DMA_CH1.into_ref();
+
+    for _ in 0..3 {
+        for _ in 0..100 {
+            let bx26 = adc.blocking_read(&mut p26);
+            let bx27 = adc.blocking_read(&mut p27);
+            let bx28 = adc.blocking_read(&mut p28);
+            let bxt = adc.blocking_read_temperature();
+            let x26 = adc.read(&mut p26).await;
+            let x27 = adc.read(&mut p27).await;
+            let x28 = adc.read(&mut p28).await;
+            let xt = adc.read_temperature().await;
+
+            info!("{} {} {} {} {} {} {} {}", x26, x27, x28, xt, bx26, bx27, bx28, bxt);
+        }
+
+        let mut buffer = [0u16; 24];
+        adc.dma_read(
+            &mut adc::input_from_pin(&mut p26, true).add_temperature().add(&mut p28),
+            dma0.reborrow(),
+            &mut buffer,
+            SamplingSpeed::Fastest,
+        )
+        .await;
+        info!("buffer {}", buffer);
+    }
+
+    info!("measuring with one dma channel at 10 microseconds per sample");
+    for _ in 0..10 {
+        // ordering of the input channels does not matter, only which one is the first one
+        // this particular input leads to adc measuring p27 p28 temp p26 p28 temp p26 p28 ....
+        let mut input = adc::input_from_pin(&mut p27, false)
+            .add(&mut p26)
+            .add_temperature()
+            .add(&mut p28);
+
+        let mut buffer = [0u16; 1000];
+
+        let speed = SamplingSpeed::Interval {
+            n: 48 * 10 - 1,
+            frac: 0,
+        };
+        let start_time = Instant::now();
+        adc.dma_read(&mut input, dma0.reborrow(), &mut buffer, speed).await;
+        let t = Instant::now().duration_since(start_time);
+
+        let mut sums = [0u32; 3]; // p26, p28, temp
+        let mut j = 1; // starting pin in [p26, p28, temp] is p28
+        for x in buffer[1..].into_iter() {
+            // ignoring first pin (p27), because it is not part of round robin
+            sums[j] += *x as u32;
+            j = (j + 1) % 3;
+        }
+
+        info!(
+            "t: {:?}, p26: {:?}, p28: {:?}, temp: {:?} (~{:?}°C)",
+            t.as_micros(),
+            mean(sums[0], 333),
+            mean(sums[1], 333),
+            mean(sums[2], 333),
+            convert_to_celsius(mean(sums[2], 333)),
+        );
+    }
+
+    info!("measuring continuously with two dma channels at 2 microseconds per sample");
+    loop {
+        let mut buffer1 = [0u16; 1000];
+        let mut buffer2 = [0u16; 1000];
+
+        for l in 1..50 {
+            let data1 = &mut buffer1[..l];
+            let data2 = &mut buffer2[..l]; // same size is not required
+
+            // this particular input leads to adc measuring temp, p26, p27, p28, temp, p26, p27, p28, ...
+            let input = adc::input_temperature(true).add(&mut p28).add(&mut p27).add(&mut p26);
+            let mut control_input = [[0u32; 4]; 2];
+            let speed = SamplingSpeed::Fastest;
+
+            let mut sums = [0u32; 4]; // p26, p27, p28, temp
+            let mut counts = [0u32; 4];
+            let mut j = 3usize; // starting pin is temp
+            let mut corrupted = false;
+            #[allow(unused_assignments)]
+            let mut in_time = true;
+
+            let start = Instant::now();
+
+            let mut cadc = ContinuousAdc::start_new(
+                adc,
+                dma0.reborrow(),
+                dma1.reborrow(),
+                input,
+                speed,
+                &mut control_input,
+                data1,
+            );
+
+            for _ in 0..2499 {
+                (cadc, in_time) = cadc.next(data2).await;
+                evaluate(data1, &mut sums, &mut counts, &mut corrupted, &mut j, in_time);
+
+                (cadc, in_time) = cadc.next(data1).await;
+                evaluate(data2, &mut sums, &mut counts, &mut corrupted, &mut j, in_time);
+            }
+
+            // to have exactly 5000 runs
+            (cadc, in_time) = cadc.next(data2).await;
+            evaluate(data1, &mut sums, &mut counts, &mut corrupted, &mut j, in_time);
+
+            // stop measurement, get adc back
+            adc = cadc.stop().await;
+            let t = Instant::now().duration_since(start).as_micros();
+            evaluate(data2, &mut sums, &mut counts, &mut corrupted, &mut j, true);
+
+            let mut c = heapless::String::<11>::new();
+            if corrupted {
+                c.push_str(", corrupted").unwrap();
+            }
+            info!(
+                "data length: {:?}, t: {:?} micros, p26: {:?}, p27: {:?}, p28: {:?}, temp: {:?}{}",
+                l,
+                t,
+                mean(sums[0], counts[0]),
+                mean(sums[1], counts[1]),
+                mean(sums[2], counts[2]),
+                mean(sums[3], counts[3]),
+                c
+            );
+        }
+        Timer::after(Duration::from_millis(1000)).await;
+    }
+}
+
+fn convert_to_celsius(raw_temp: u16) -> f32 {
+    // According to chapter 4.9.5. Temperature Sensor in RP2040 datasheet
+    27.0 - (raw_temp as f32 * 3.3 / 4096.0 - 0.706) / 0.001721 as f32
+}
+
+fn mean(sum: u32, len: u32) -> u16 {
+    (0.5 + sum as f32 / len as f32) as u16
+}
+
+fn evaluate(
+    data: &mut [u16],
+    sums: &mut [u32; 4],
+    counts: &mut [u32; 4],
+    corrupted: &mut bool,
+    j: &mut usize,
+    in_time: bool,
+) {
+    *corrupted = *corrupted | !in_time;
+    for i in 0..data.len() {
+        sums[*j] += data[i] as u32;
+        data[i] = 0;
+        counts[*j] += 1;
+        *j = (*j + 1) % 4;
+    }
+}